// Copyright (c) 2015-2016, ETH Zurich, Wyss Zurich, Zurich Eye
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the ETH Zurich, Wyss Zurich, Zurich Eye nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL ETH Zurich, Wyss Zurich, Zurich Eye BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include <ze/imu/imu_model.hpp>

namespace ze {

ImuModel::ImuModel(
    const AccelerometerModel::Ptr accelerometerModel,
    const GyroscopeModel::Ptr gyroscopeModel)
  : accelerometerModel_(accelerometerModel)
  , gyroscopeModel_(gyroscopeModel)
{
}

ImuModel::Ptr ImuModel::loadFromYaml(const std::string& path)
{
  try
  {
    YAML::Node doc = YAML::LoadFile(path.c_str());
    return doc.as<ImuModel::Ptr>();
  }
  catch (const std::exception& ex)
  {
    LOG(ERROR) << "Failed to load IMU from file " << path << " with the error: \n"
               << ex.what();
  }
  return ImuModel::Ptr();
}

Vector6 ImuModel::distort(const Eigen::Ref<const measurement_t>& primary,
                          const Eigen::Ref<const measurement_t>& secondary) const
{
  Vector6 out;
  out.head<3>() = accelerometerModel_->distort(primary, secondary);
  out.tail<3>() = gyroscopeModel_->distort(secondary, primary);
  return out;
}

Vector6 ImuModel::undistort(const Eigen::Ref<const measurement_t>& primary,
                            const Eigen::Ref<const measurement_t>& secondary) const
{
  Vector6 out;
  out.head<3>() = accelerometerModel_->undistort(primary, secondary);
  out.tail<3>() = gyroscopeModel_->undistort(secondary, primary);
  return out;
}

} // namespace ze
